TY - GEN
T1 - Pushing control of mobile robot by adjusting deceleration time according to estimated friction effect
AU - Sekiya, Koshin
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2020 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/2
Y1 - 2020/2
N2 - Recently, attention has been paid to pushing task by robots. A flexible mobile robot with a spring was devised to achieve safe contact during the pushing task. In this paper, two types of pushing task were assumed, one is pushing a fixed object and second is pushing a mobile object. A control law for flexible mobile robots to perform these tasks was proposed. The first is resonance ratio control for force control on a fixed object. Second, deceleration time adjustment method was proposed to carry mobile object without overrunning the target position. Also an observer to estimate friction was proposed, which is an index for adapting deceleration time. The performance of the proposed methods ware verified by simulation.
AB - Recently, attention has been paid to pushing task by robots. A flexible mobile robot with a spring was devised to achieve safe contact during the pushing task. In this paper, two types of pushing task were assumed, one is pushing a fixed object and second is pushing a mobile object. A control law for flexible mobile robots to perform these tasks was proposed. The first is resonance ratio control for force control on a fixed object. Second, deceleration time adjustment method was proposed to carry mobile object without overrunning the target position. Also an observer to estimate friction was proposed, which is an index for adapting deceleration time. The performance of the proposed methods ware verified by simulation.
KW - Deceleration Time Adjustment
KW - Flexible Mobile Robot
KW - Friction Estimation Observer
KW - Pushing Task
UR - http://www.scopus.com/inward/record.url?scp=85084129636&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85084129636&partnerID=8YFLogxK
U2 - 10.1109/ICIT45562.2020.9067260
DO - 10.1109/ICIT45562.2020.9067260
M3 - Conference contribution
AN - SCOPUS:85084129636
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 389
EP - 394
BT - Proceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE International Conference on Industrial Technology, ICIT 2020
Y2 - 26 February 2020 through 28 February 2020
ER -